Day 2: (Thu Aug 29) Concepts of Dynamics and Feedback, Double-Pendulum Simulation

Notes for 2019-08-29. See also the Fall 2019 Calendar.

Notes from Day 1

Agenda

1. Administrative

   • Laser cutter safety training courses: see IDeATe Laser Cutter Policy

   • Quick poll: who could help run a show at 6PM on Friday, Oct 11?

   • Quick poll: would you rather have a final performance before or after Thanksgiving?

2. Assignments

   • Due in a week: Exercise: Dynamic Gesture on a Simulated Double Pendulum

   • periodically: generate a question

3. In-class

   1. Start with some related work:

      1. Jacob Tonski

      2. “Acrobot” Underactuated Inverted Pendulum

      3. Bruce Shapiro

      4. “Butterfly” robot manipulation

   2. Brief overview of dynamic robot nomenclature.

   3. Introduction to the Double Pendulum Simulator

   4. Group assignments.

   5. Practical: try running the simulation and exploring the code.

Discussion notes

1. Quick simulator demo

   • run dblpend_free.py

   • run dblpend_swingup.py

   
   

2. Hypotheses/premises

   • dynamic movement offers valuable tools for kinetic expression

   • feedback control is the foundation for situating an agent in an environment

   
   

3. Nomenclature

   • kinematics

   • dynamics

   • degree of freedom

   • proprioception

   • system

   • state

   • trajectory

   • feedback

   
   

4. PID control

   • (draw out basic block diagram)

   • P: analogous to a spring

   • D: analagous to a damper

   • I: analagous to an accumulator

   • (draw out mass-spring schematic)

   • (show Holst video below)

   
   

5. PD trajectories

   • step responses

   • target paths

   • multidimensional control

   
   

6. general control policies

   • stability domains

   • switching functions

   
   

Video

PID demo video from Gregory Holst at Georgia Tech.